A methodology for the performance evaluation of inertial measurement units

Salvatore Sessa*, Massimiliano Zecca, Zhuohua Lin, Luca Bartolomeo, Hiroyuki Ishii, Atsuo Takanishi

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

44 Citations (Scopus)


This paper presents a methodology for a reliable comparison among Inertial Measurement Units or attitude estimation devices in a Vicon environment. The misalignment among the reference systems and the lack of synchronization among the devices are the main problems for the correct performance evaluation using Vicon as reference measurement system. We propose a genetic algorithm coupled with Dynamic Time Warping (DTW) to solve these issues. To validate the efficacy of the methodology, a performance comparison is implemented between the WB-3 ultra-miniaturized Inertial Measurement Unit (IMU), developed by our group, with the commercial IMU InertiaCube3™ by InterSense.

Original languageEnglish
Pages (from-to)143-157
Number of pages15
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number2
Publication statusPublished - 2013 Aug


  • Inertial Measurement Units
  • Motion capture systems
  • Motion sensors calibration
  • Performance evaluation

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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